Velocity based control process for a machine digging cycle
First Claim
1. A method of controlling a machine having an implement system including a linkage and a bucket coupled with the linkage, comprising the steps of:
- moving the implement system through a work cycle that includes interacting with a material;
sensing values associated with a bucket velocity parameter during interacting with material; and
controlling the bucket velocity parameter by controlling a sequence of bucket orientations whereby the implement system interacts with the material;
wherein the step of controlling the bucket velocity parameter includes outputting actuator control commands for at least one actuator of the implement system with an electronic controller of the machine, responsive to a hardness of the material indicated by the sensed values.
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Accused Products
Abstract
A method and machine with an automated digging cycle is provided. The method includes moving an implement system of the machine through a work cycle, including interacting with a material. The method further includes sensing values associated with a bucket velocity parameter, such as bucket tip velocity, during interacting with the material, and controlling the velocity parameter via commands which control a sequence of bucket orientations whereby an implement system of the machine interacts with the material, responsive to the sensed values. The machine includes an electronic controller configured via a control algorithm to execute the automated digging cycle. A velocity based control system for an excavating machine includes an electronic controller configured to receive velocity signals from at least one sensor, determine a bucket tip velocity, and output control commands to move a bucket of the excavating machine through a material via a sequence of bucket orientations that is based on the determined bucket tip velocity.
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Citations
19 Claims
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1. A method of controlling a machine having an implement system including a linkage and a bucket coupled with the linkage, comprising the steps of:
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moving the implement system through a work cycle that includes interacting with a material; sensing values associated with a bucket velocity parameter during interacting with material; and controlling the bucket velocity parameter by controlling a sequence of bucket orientations whereby the implement system interacts with the material; wherein the step of controlling the bucket velocity parameter includes outputting actuator control commands for at least one actuator of the implement system with an electronic controller of the machine, responsive to a hardness of the material indicated by the sensed values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A machine comprising:
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an implement system that includes a linkage having a boom and a stick, a bucket, and a plurality of actuators; at least one sensor configured to sense values associated with a bucket velocity parameter; and an electronic controller coupled with said at least one sensor and with each of said actuators, said electronic controller being configured to control the bucket velocity parameter by controlling a sequence of bucket orientations whereby the implement system interacts with a material responsive to a hardness of the material indicated by signals from said at least one sensor. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A control system for an excavating machine having an implement system that includes a linkage with a boom and stick, and a bucket, said control system comprising:
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at least one sensor configured to output signals indicative of a bucket velocity parameter; and an electronic controller coupled with said at least one sensor, said electronic controller being configured to control the bucket velocity parameter by controlling a sequence of bucket orientations whereby said implement system interacts with a material responsive to a hardness of the material indicated by signals from said at least one sensor. - View Dependent Claims (17)
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18. A control system for an excavating machine having an implement system that includes a linkage with a boom and stick, and a bucket, said control system comprising:
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at least one sensor configured to output signals indicative of a bucket velocity parameter; and an electronic controller coupled with said at least one sensor, said electronic controller being cg to control the bucket velocity parameter by controlling a sequence of bucket orientations whereby said implement system interacts with material responsive to signals from said at least one sensor; wherein said at least one sensor is configured to output signals indicative of bucket tip velocity, said electronic controller being configured to determine bucket tip velocity based on said signals, said electronic controller being further configured to output a sequence of velocity commands to at least one actuator of the implement system during digging material with said bucket, and configured to vary velocity commands within the sequence responsive to determined bucket tip velocity; and wherein said electronic controller is further configured to output increased velocity commands to a bucket actuator of the implement system where bucket tip velocity is relatively greater and output decreased velocity commands to a bucket actuator where bucket tip velocity is relatively less. - View Dependent Claims (19)
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Specification